In this paper, kinematic stability of a 2-degree-of-freedom (dof) deployable translational parallel manipulator (DTPM) with dual scissor-like mechanisms (D-SLiMs) is investigated; method for improving the stability of the manipulator is proposed. First, the virtual deformation energy of links is defined. Multiple workspace components of the DTPM are obtained by solving the minimization problem of deformation energy. To evaluate the local stability of the mechanism, the Hessian matrix of the deformation energy is studied for obtaining the instantaneous performance; then, the passing energy of virtual deformation within a finite range is analyzed. Based on that, the relative range of 2 categories of the idle motions is explored in the whole workspace. Next, the influence of the number and the locations of the middle links on the stability and stiffness of the DTPM is evaluated. Accordingly, a method for improving kinematic stability is proposed. A prototype is fabricated; its stability during motion is validated in the pick-and-place experiments. Since it is collapsible for easy storage, and can be deployed for a variety of operations, the prototype is applied on an Unmanned Aerial Vehicle (UAV) and taken into the test flight.

本文研究了具有双剪刀状机构（D-SLiMs）的2自由度（dof）可展开平移并联机械手（DTPM）的运动学稳定性；提出了一种提高机械手稳定性的方法。首先，定义链节的虚拟变形能。通过解决变形能的最小化问题，可以获得DTPM的多个工作空间组件。为了评估机构的局部稳定性，研究了变形能的Hessian矩阵以获得瞬时性能。然后，分析了有限范围内虚拟变形的通过能量。基于此，在整个工作空间中探索了两种类型的空转运动的相对范围。下一个，评估了中间链节的数量和位置对DTPM稳定性和刚度的影响。因此，提出了一种改善运动稳定性的方法。制作了原型；它的运动稳定性在拾放实验中得到了验证。由于可折叠，易于存储，并且可以部署用于多种操作，因此将原型应用于无人飞行器（UAV）并进行试飞。